2005-07-16 09:58:01 +00:00
|
|
|
/*
|
2006-03-27 06:37:30 +00:00
|
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
|
|
subject to the following restrictions:
|
|
|
|
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
|
|
*/
|
2005-07-16 09:58:01 +00:00
|
|
|
|
|
|
|
#ifndef CYLINDER_MINKOWSKI_H
|
|
|
|
#define CYLINDER_MINKOWSKI_H
|
|
|
|
|
|
|
|
#include "BoxShape.h"
|
|
|
|
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
|
|
|
#include "SimdVector3.h"
|
|
|
|
|
|
|
|
/// implements cylinder shape interface
|
|
|
|
class CylinderShape : public BoxShape
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
public:
|
|
|
|
CylinderShape (const SimdVector3& halfExtents);
|
|
|
|
|
2005-09-06 16:45:48 +00:00
|
|
|
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
|
|
|
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
|
|
|
{
|
|
|
|
GetAabbSlow(t,aabbMin,aabbMax);
|
|
|
|
}
|
2005-07-16 09:58:01 +00:00
|
|
|
|
|
|
|
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
|
|
|
|
2006-04-26 03:20:28 +00:00
|
|
|
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
|
|
|
|
2005-08-05 17:00:32 +00:00
|
|
|
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
|
|
|
|
{
|
2005-07-16 09:58:01 +00:00
|
|
|
|
2005-08-05 17:00:32 +00:00
|
|
|
SimdVector3 supVertex;
|
|
|
|
supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
|
|
|
|
|
|
|
if ( GetMargin()!=0.f )
|
|
|
|
{
|
|
|
|
SimdVector3 vecnorm = vec;
|
2006-04-17 06:27:57 +00:00
|
|
|
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
2005-08-05 17:00:32 +00:00
|
|
|
{
|
|
|
|
vecnorm.setValue(-1.f,-1.f,-1.f);
|
|
|
|
}
|
|
|
|
vecnorm.normalize();
|
|
|
|
supVertex+= GetMargin() * vecnorm;
|
|
|
|
}
|
|
|
|
return supVertex;
|
|
|
|
}
|
2005-07-16 09:58:01 +00:00
|
|
|
|
|
|
|
|
|
|
|
//use box inertia
|
|
|
|
// virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
|
|
|
|
|
|
|
virtual int GetShapeType() const
|
|
|
|
{
|
|
|
|
return CYLINDER_SHAPE_PROXYTYPE;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
class CylinderShapeX : public CylinderShape
|
|
|
|
{
|
|
|
|
public:
|
|
|
|
CylinderShapeX (const SimdVector3& halfExtents);
|
|
|
|
|
|
|
|
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
2006-04-26 03:20:28 +00:00
|
|
|
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
2005-07-16 09:58:01 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
class CylinderShapeZ : public CylinderShape
|
|
|
|
{
|
|
|
|
public:
|
|
|
|
CylinderShapeZ (const SimdVector3& halfExtents);
|
|
|
|
|
|
|
|
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
2006-04-26 03:20:28 +00:00
|
|
|
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
2005-07-16 09:58:01 +00:00
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
2006-01-05 23:10:54 +00:00
|
|
|
#endif //CYLINDER_MINKOWSKI_H
|
|
|
|
|